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feat: 支持posix 和 cmsis join能力

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支持API:
  LOS_TaskJoin
  LOS_TaskDeatch
  pthread_join
  pthread_deatch
  osThreadJoin
  osThreadDetach
Close #I44V26

Signed-off-by: zhushengle <zhushengle@huawei.com>
Change-Id: Ib61e69c280eef2e4b3b79d9bba7bbd5a300c7fe4
This commit is contained in:
zhushengle
2021-09-15 16:49:01 +08:00
parent 4700ba6973
commit ecfdf7ff9b
38 changed files with 1084 additions and 166 deletions
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122
kernel/include/los_task.h
View File

@@ -369,8 +369,66 @@ extern "C" {
*/
#define LOS_ERRNO_TSK_OPERATE_SWTMR LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x22)
/**
* @ingroup los_task
* Task error code: Task timeout.
*
* Value: 0x02000223
*
* Solution: Check whether the waiting time and timeout are reasonable.
*/
#define LOS_ERRNO_TSK_TIMEOUT LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x23)
/**
* @ingroup los_task
* Task error code: This task cannot wait for other tasks to finish.
*
* Value: 0x02000224
*
* Solution: Check the task properties and whether it is waiting for other tasks to finish.
*/
#define LOS_ERRNO_TSK_NOT_JOIN LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x24)
/**
* @ingroup los_task
* Task error code: Tasks can't join himself.
*
* Value: 0x02000225
*
* Solution: Check whether the task ID is the current running task.
*/
#define LOS_ERRNO_TSK_NOT_JOIN_SELF LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x25)
/**
* @ingroup los_task
* Task error code: This task operation is not allowed to be performed in an interrupt.
*
* Value: 0x02000226
*
* Solution: Check whether the interface is used in interrupts.
*/
#define LOS_ERRNO_TSK_NOT_ALLOW_IN_INT LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x26)
/**
* @ingroup los_task
* Task error code: An exited task cannot be deleted.
*
* Value: 0x02000227
*
* Solution: Check whether a Joinable task exists. If so, call LOS_TaskJoin to reclaim resources.
*/
#define LOS_ERRNO_TSK_ALREADY_EXIT LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x27)
/**
* @ingroup los_task
* Task error code: Locked scheduling does not allow tasks to be blocked.
*
* Value: 0x02000228
*
* Solution: Check for faulty lock scheduling logic.
*/
#define LOS_ERRNO_TSK_SCHED_LOCKED LOS_ERRNO_OS_ERROR(LOS_MOD_TSK, 0x28)
/**
* @ingroup los_task
* Define the type of the task entry function.
@@ -393,17 +451,21 @@ typedef struct tagTskInitParam {
UINT32 uwResved; /**< Reserved */
} TSK_INIT_PARAM_S;
/**
* @ingroup los_task
* Task detach attribute.
*/
#define LOS_TASK_ATTR_JOINABLE 0x80000000
/**
* @ingroup los_task
* Task name length
*
*/
#define LOS_TASK_NAMELEN 32
/**
* @ingroup los_task
* Task information structure.
*
*/
typedef struct tagTskInfo {
CHAR acName[LOS_TASK_NAMELEN]; /**< Task entrance function */
@@ -1088,6 +1150,45 @@ extern CHAR* LOS_TaskNameGet(UINT32 taskID);
*/
extern VOID LOS_UDelay(UINT64 microseconds);
/* *
* @ingroup los_task
* @brief: cpu delay.
*
* @par Description:
* This API is used to wait for the subtask to finish and reclaim the resource.
*
* @attention:
* <ul><li>None.</li></ul>
*
* @param taskID [IN] task ID.
* @param retval [IN] Value returned when the task is complete.
*
* @retval: None.
* @par Dependency:
* <ul><li>los_task.h: the header file that contains the API declaration.</li></ul>
* @see LOS_TaskDetach.
*/
extern UINT32 LOS_TaskJoin(UINT32 taskID, UINTPTR *retval);
/* *
* @ingroup los_task
* @brief: Modify the task attributes to detach.
*
* @par Description:
* This API is used to modify the attribute of the specified task to detach.
*
* @attention:
* <ul><li>None.</li></ul>
*
* @param taskID [IN] task ID.
*
* @retval: None.
* @par Dependency:
* <ul><li>los_task.h: the header file that contains the API declaration.</li></ul>
* @see LOS_TaskJoin.
*/
extern UINT32 LOS_TaskDetach(UINT32 taskID);
/**
* @ingroup los_task
* Null task ID
@@ -1175,6 +1276,14 @@ extern VOID LOS_UDelay(UINT64 microseconds);
*/
#define OS_TASK_STATUS_PEND_TIME 0x0080
/**
* @ingroup los_task
* Flag that indicates the task or task control block status.
*
* The task exits and waits for the parent thread to reclaim the resource.
*/
#define OS_TASK_STATUS_EXIT 0x0100
/**
* @ingroup los_task
* Flag that indicates the task or task control block status.
@@ -1185,11 +1294,12 @@ extern VOID LOS_UDelay(UINT64 microseconds);
/**
* @ingroup los_task
* Flag that indicates the task is in userspace.
* Flag that indicates the task or task control block status.
*
* The task is a user task.
* Task join properties, The parent thread needs to reclaim
* the resource after the task ends.
*/
#define OS_TASK_STATUS_USERSPACE 0x8000
#define OS_TASK_FLAG_JOINABLE 0x8000
/**
* @ingroup los_task
@@ -1354,6 +1464,8 @@ typedef struct {
CHAR *taskName; /**< Task name */
LOS_DL_LIST pendList;
LOS_DL_LIST timerList;
LOS_DL_LIST joinList;
UINTPTR joinRetval; /**< Return value of the end of the task, If the task does not exit by itself, the ID of the task that killed the task is recorded. */
EVENT_CB_S event;
UINT32 eventMask; /**< Event mask */
UINT32 eventMode; /**< Event mode */

5
kernel/src/los_sched.c
View File

@@ -50,6 +50,9 @@ extern "C" {
#error "Must specify the maximum value that tick timer counter supports!"
#endif
#define OS_TASK_BLOCKED_STATUS (OS_TASK_STATUS_PEND | OS_TASK_STATUS_SUSPEND | \
OS_TASK_STATUS_EXIT | OS_TASK_STATUS_UNUSED)
STATIC SchedScan g_swtmrScan = NULL;
STATIC SortLinkAttribute *g_taskSortLinkList = NULL;
STATIC LOS_DL_LIST g_priQueueList[OS_PRIORITY_QUEUE_NUM];
@@ -511,7 +514,7 @@ BOOL OsSchedTaskSwitch(VOID)
if (runTask->taskStatus & (OS_TASK_STATUS_PEND_TIME | OS_TASK_STATUS_DELAY)) {
OsAdd2SortLink(&runTask->sortList, runTask->startTime, runTask->waitTimes, OS_SORT_LINK_TASK);
} else if (!(runTask->taskStatus & (OS_TASK_STATUS_PEND | OS_TASK_STATUS_SUSPEND | OS_TASK_STATUS_UNUSED))) {
} else if (!(runTask->taskStatus & OS_TASK_BLOCKED_STATUS)) {
OsSchedTaskEnQueue(runTask);
}

192
kernel/src/los_task.c
View File

@@ -123,6 +123,22 @@ STATIC_INLINE UINT32 OsCheckTaskIDValid(UINT32 taskID)
return ret;
}
STATIC VOID OsRecycleTaskResources(LosTaskCB *taskCB, UINTPTR *stackPtr)
{
if (!(taskCB->taskStatus & OS_TASK_STATUS_EXIT)) {
LOS_ListAdd(&g_losFreeTask, &taskCB->pendList);
taskCB->taskStatus = OS_TASK_STATUS_UNUSED;
}
if (taskCB->topOfStack != 0) {
#if (LOSCFG_EXC_HARDWARE_STACK_PROTECTION == 1)
*stackPtr = taskCB->topOfStack - OS_TASK_STACK_PROTECT_SIZE;
#else
*stackPtr = taskCB->topOfStack;
#endif
taskCB->topOfStack = (UINT32)NULL;
}
}
STATIC VOID OsRecyleFinishedTask(VOID)
{
LosTaskCB *taskCB = NULL;
@@ -133,14 +149,12 @@ STATIC VOID OsRecyleFinishedTask(VOID)
while (!LOS_ListEmpty(&g_taskRecyleList)) {
taskCB = OS_TCB_FROM_PENDLIST(LOS_DL_LIST_FIRST(&g_taskRecyleList));
LOS_ListDelete(LOS_DL_LIST_FIRST(&g_taskRecyleList));
LOS_ListAdd(&g_losFreeTask, &taskCB->pendList);
#if (LOSCFG_EXC_HARDWARE_STACK_PROTECTION == 1)
stackPtr = taskCB->topOfStack - OS_TASK_STACK_PROTECT_SIZE;
#else
stackPtr = taskCB->topOfStack;
#endif
stackPtr = 0;
OsRecycleTaskResources(taskCB, &stackPtr);
LOS_IntRestore(intSave);
(VOID)LOS_MemFree(OS_TASK_STACK_ADDR, (VOID *)stackPtr);
taskCB->topOfStack = (UINT32)NULL;
intSave = LOS_IntLock();
}
LOS_IntRestore(intSave);
}
@@ -188,6 +202,10 @@ LITE_OS_SEC_TEXT_MINOR UINT8 *OsConvertTskStatus(UINT16 taskStatus)
return (UINT8 *)"Running";
} else if (taskStatus & OS_TASK_STATUS_READY) {
return (UINT8 *)"Ready";
} else if (taskStatus & OS_TASK_STATUS_EXIT) {
return (UINT8 *)"Exit";
} else if (taskStatus & OS_TASK_STATUS_SUSPEND) {
return (UINT8 *)"Suspend";
} else if (taskStatus & OS_TASK_STATUS_DELAY) {
return (UINT8 *)"Delay";
} else if (taskStatus & OS_TASK_STATUS_PEND) {
@@ -195,8 +213,6 @@ LITE_OS_SEC_TEXT_MINOR UINT8 *OsConvertTskStatus(UINT16 taskStatus)
return (UINT8 *)"PendTime";
}
return (UINT8 *)"Pend";
} else if (taskStatus & OS_TASK_STATUS_SUSPEND) {
return (UINT8 *)"Suspend";
}
return (UINT8 *)"Impossible";
@@ -606,8 +622,7 @@ LITE_OS_SEC_TEXT_INIT VOID OsTaskEntry(UINT32 taskID)
UINT32 retVal;
LosTaskCB *taskCB = OS_TCB_FROM_TID(taskID);
(VOID)taskCB->taskEntry(taskCB->arg);
taskCB->joinRetval = (UINTPTR)taskCB->taskEntry(taskCB->arg);
retVal = LOS_TaskDelete(taskCB->taskID);
if (retVal != LOS_OK) {
PRINT_ERR("Delete Task[TID: %d] Failed!\n", taskCB->taskID);
@@ -671,6 +686,11 @@ LITE_OS_SEC_TEXT_INIT UINT32 OsNewTaskInit(LosTaskCB *taskCB, TSK_INIT_PARAM_S *
taskCB->stackPointer = HalTskStackInit(taskCB->taskID, taskInitParam->uwStackSize, topOfStack);
SET_SORTLIST_VALUE(&taskCB->sortList, OS_SORT_LINK_INVALID_TIME);
LOS_EventInit(&(taskCB->event));
if (taskInitParam->uwResved & LOS_TASK_ATTR_JOINABLE) {
taskCB->taskStatus |= OS_TASK_FLAG_JOINABLE;
LOS_ListInit(&taskCB->joinList);
}
return LOS_OK;
}
@@ -892,6 +912,124 @@ LOS_ERREND:
return retErr;
}
STATIC VOID OsTaskJoinPostUnsafe(LosTaskCB *taskCB)
{
LosTaskCB *resumedTask = NULL;
if (taskCB->taskStatus & OS_TASK_FLAG_JOINABLE) {
if (!LOS_ListEmpty(&taskCB->joinList)) {
resumedTask = OS_TCB_FROM_PENDLIST(LOS_DL_LIST_FIRST(&(taskCB->joinList)));
OsSchedTaskWake(resumedTask);
}
taskCB->taskStatus |= OS_TASK_STATUS_EXIT;
}
}
STATIC UINT32 OsTaskJoinPendUnsafe(LosTaskCB *taskCB)
{
if (taskCB->taskStatus & OS_TASK_STATUS_EXIT) {
return LOS_OK;
} else if ((taskCB->taskStatus & OS_TASK_FLAG_JOINABLE) && LOS_ListEmpty(&taskCB->joinList)) {
OsSchedTaskWait(&taskCB->joinList, LOS_WAIT_FOREVER);
return LOS_OK;
}
return LOS_NOK;
}
STATIC UINT32 OsTaskSetDetachUnsafe(LosTaskCB *taskCB)
{
if (taskCB->taskStatus & OS_TASK_FLAG_JOINABLE) {
if (LOS_ListEmpty(&(taskCB->joinList))) {
LOS_ListDelete(&(taskCB->joinList));
taskCB->taskStatus &= ~OS_TASK_FLAG_JOINABLE;
return LOS_OK;
}
/* This error code has a special purpose and is not allowed to appear again on the interface */
return LOS_ERRNO_TSK_NOT_JOIN;
}
return LOS_NOK;
}
LITE_OS_SEC_TEXT_INIT UINT32 LOS_TaskJoin(UINT32 taskID, UINTPTR *retval)
{
LosTaskCB *taskCB = NULL;
UINTPTR stackPtr = 0;
UINT32 intSave;
UINT32 ret;
ret = OsCheckTaskIDValid(taskID);
if (ret != LOS_OK) {
return ret;
}
if (OS_INT_ACTIVE) {
return LOS_ERRNO_TSK_NOT_ALLOW_IN_INT;
}
if (g_losTaskLock != 0) {
return LOS_ERRNO_TSK_SCHED_LOCKED;
}
if (taskID == LOS_CurTaskIDGet()) {
return LOS_ERRNO_TSK_NOT_JOIN_SELF;
}
taskCB = OS_TCB_FROM_TID(taskID);
intSave = LOS_IntLock();
if (taskCB->taskStatus & OS_TASK_STATUS_UNUSED) {
LOS_IntRestore(intSave);
return LOS_ERRNO_TSK_NOT_CREATED;
}
ret = OsTaskJoinPendUnsafe(taskCB);
LOS_IntRestore(intSave);
if (ret == LOS_OK) {
LOS_Schedule();
if (retval != NULL) {
*retval = taskCB->joinRetval;
}
intSave = LOS_IntLock();
taskCB->taskStatus &= ~OS_TASK_STATUS_EXIT;
OsRecycleTaskResources(taskCB, &stackPtr);
LOS_IntRestore(intSave);
(VOID)LOS_MemFree(OS_TASK_STACK_ADDR, (VOID *)stackPtr);
return LOS_OK;
}
return ret;
}
LITE_OS_SEC_TEXT_INIT UINT32 LOS_TaskDetach(UINT32 taskID)
{
UINT32 intSave;
UINT32 ret;
LosTaskCB *taskCB = NULL;
ret = OsCheckTaskIDValid(taskID);
if (ret != LOS_OK) {
return ret;
}
if (OS_INT_ACTIVE) {
return LOS_ERRNO_TSK_NOT_ALLOW_IN_INT;
}
taskCB = OS_TCB_FROM_TID(taskID);
intSave = LOS_IntLock();
if (taskCB->taskStatus & OS_TASK_STATUS_UNUSED) {
LOS_IntRestore(intSave);
return LOS_ERRNO_TSK_NOT_CREATED;
}
ret = OsTaskSetDetachUnsafe(taskCB);
LOS_IntRestore(intSave);
return ret;
}
LITE_OS_SEC_TEXT_INIT STATIC_INLINE VOID OsRunningTaskDelete(UINT32 taskID, LosTaskCB *taskCB)
{
LOS_ListTailInsert(&g_taskRecyleList, &taskCB->pendList);
@@ -911,21 +1049,27 @@ LITE_OS_SEC_TEXT_INIT STATIC_INLINE VOID OsRunningTaskDelete(UINT32 taskID, LosT
LITE_OS_SEC_TEXT_INIT UINT32 LOS_TaskDelete(UINT32 taskID)
{
UINT32 intSave;
LosTaskCB *taskCB = OS_TCB_FROM_TID(taskID);
UINTPTR stackPtr;
UINTPTR stackPtr = 0;
LosTaskCB *taskCB = NULL;
UINT32 ret = OsCheckTaskIDValid(taskID);
if (ret != LOS_OK) {
return ret;
}
taskCB = OS_TCB_FROM_TID(taskID);
intSave = LOS_IntLock();
if ((taskCB->taskStatus) & OS_TASK_STATUS_UNUSED) {
if (taskCB->taskStatus & OS_TASK_STATUS_UNUSED) {
LOS_IntRestore(intSave);
return LOS_ERRNO_TSK_NOT_CREATED;
}
if (taskCB->taskStatus & OS_TASK_STATUS_EXIT) {
LOS_IntRestore(intSave);
return LOS_ERRNO_TSK_ALREADY_EXIT;
}
/* If the task is running and scheduler is locked then you can not delete it */
if (((taskCB->taskStatus) & OS_TASK_STATUS_RUNNING) && (g_losTaskLock != 0)) {
PRINT_INFO("In case of task lock, task deletion is not recommended\n");
@@ -934,6 +1078,7 @@ LITE_OS_SEC_TEXT_INIT UINT32 LOS_TaskDelete(UINT32 taskID)
OsHookCall(LOS_HOOK_TYPE_TASK_DELETE, taskCB);
OsSchedTaskExit(taskCB);
OsTaskJoinPostUnsafe(taskCB);
LOS_EventDestroy(&(taskCB->event));
taskCB->event.uwEventID = OS_NULL_INT;
@@ -943,24 +1088,19 @@ LITE_OS_SEC_TEXT_INIT UINT32 LOS_TaskDelete(UINT32 taskID)
(VOID)memset_s((VOID *)&g_cpup[taskCB->taskID], sizeof(OsCpupCB), 0, sizeof(OsCpupCB));
#endif
if (taskCB->taskStatus & OS_TASK_STATUS_RUNNING) {
taskCB->taskStatus = OS_TASK_STATUS_UNUSED;
OsRunningTaskDelete(taskID, taskCB);
if (!(taskCB->taskStatus & OS_TASK_STATUS_EXIT)) {
taskCB->taskStatus = OS_TASK_STATUS_UNUSED;
OsRunningTaskDelete(taskID, taskCB);
}
LOS_IntRestore(intSave);
LOS_Schedule();
return LOS_OK;
} else {
taskCB->taskStatus = OS_TASK_STATUS_UNUSED;
LOS_ListAdd(&g_losFreeTask, &taskCB->pendList);
#if (LOSCFG_EXC_HARDWARE_STACK_PROTECTION == 1)
stackPtr = taskCB->topOfStack - OS_TASK_STACK_PROTECT_SIZE;
#else
stackPtr = taskCB->topOfStack;
#endif
(VOID)LOS_MemFree(OS_TASK_STACK_ADDR, (VOID *)stackPtr);
taskCB->topOfStack = (UINT32)NULL;
}
taskCB->joinRetval = LOS_CurTaskIDGet();
OsRecycleTaskResources(taskCB, &stackPtr);
LOS_IntRestore(intSave);
(VOID)LOS_MemFree(OS_TASK_STACK_ADDR, (VOID *)stackPtr);
return LOS_OK;
}